WO2023216466A1 - End tool error detection method and device for orthopedic surgical robot - Google Patents

Abstract

An end tool error detection method and device for an orthopedic surgical robot. The method comprises: acquiring a theoretical coordinate model of an assembly and theoretical coordinates of a reference point at the front end of a surgical tool, wherein the assembly comprises an end gripper (220) and a surgical tool of an orthopedic surgical robot fixed on a measuring base; measuring the assembly by means of a three-coordinate instrument, establishing a measurement coordinate system for the end gripper (220) in the theoretical coordinate model on the basis of the measurement result, and determining measurement coordinates of the reference point in the measurement coordinate system; and determining a spatial error value of the reference point on the basis of the determined measurement coordinates of the reference point and the theoretical coordinates of the reference point. Assembly accuracy can be verified.

Description

End tool error detection method and device for orthopedic surgical robots

Cross-references to related applications

This application claims priority to the Chinese patent application with application number 202210489466.7, titled "End Tool Error Detection Method and Device for Orthopedic Surgical Robots" submitted on May 7, 2022, which is fully incorporated herein by reference.

Technical field

The present application relates to the technical field of surgical instruments, and in particular to a method and device for detecting end tool errors of an orthopedic surgical robot.

Background technique

In orthopedic surgery, the rasp rod and the end holder of the orthopedic surgical robot are usually assembled into an assembly. During the operation, the + anteversion angle and abduction angle of the rasp rod are constrained by the end holder of the orthopedic surgical robot to achieve Precise rasping of target areas. The coordinate accuracy of the reference point at the front end of the end holder and filing rod assembly is one of the key factors affecting the accuracy of the system. After assembling the end holder of the orthopedic surgical robot and the rasping rod, verifying the accuracy of the end holder and rasping rod assembly can ensure the accuracy of the rasping implementation. Due to the special shape and structure of the assembly composed of the end holder and the grinding rod, it is usually difficult to detect errors in the assembly composed of the end holder and the grinding rod.

Contents of the invention

This application provides a method and device for error detection of end tools of an orthopedic surgical robot to solve the problem in the prior art that it is difficult to detect errors in an assembly composed of an end holder and a rasp rod. The accuracy of the assembly composed of grinding and filing rods can be verified to ensure the accuracy of surgical execution.

In a first aspect, the present application provides a method for detecting tool errors at the end of an orthopedic surgical robot, including: obtaining a theoretical coordinate model of an assembly and a theoretical coordinate of a reference point at the front end of the surgical tool, wherein the assembly includes a component fixed on a measuring machine. The end holder of the orthopedic surgical robot and the surgical tool; the assembly is measured by a three-dimensional coordinate instrument, and based on the measurement results of the three-coordinate instrument, measurements are established for the end holder in the theoretical coordinate model Coordinate system, determine the measurement coordinates of the reference point in the measurement coordinate system; determine the spatial error value of the reference point based on the determined measurement coordinates of the reference point and the theoretical coordinates of the reference point.

According to the end tool error detection method of an orthopedic surgical robot provided by this application, the assembly is measured by a three-dimensional coordinate instrument, and the end gripper in the theoretical coordinate model is measured based on the measurement results of the three-coordinate instrument. Establishing a measurement coordinate system and determining the measurement coordinates of the reference point in the measurement coordinate system includes: measuring the end holder and the surgical tool in the assembly through the three-dimensional coordinate instrument; based on the measurement of the The measurement result of the end holder determines the coordinate origin of the measurement coordinate system and the direction of one coordinate axis. Based on the measurement result of the surgical tool, the direction of the other coordinate axis of the measurement coordinate system is determined. Based on the determined The coordinate origin and the two coordinate axes determined in the direction of the measurement coordinate system are established by the end holder in the theoretical coordinate model; based on the measurement results of the surgical tool, in the theoretical coordinate The front end of the surgical tool in the model determines the reference point, and based on the determined reference point, the measurement coordinates of the reference point are determined in the established measurement coordinate system.

According to the end tool error detection method of an orthopedic surgical robot provided by this application, measuring the end holder in the assembly through the three-dimensional coordinate instrument includes: measuring the end holder in the assembly through the three-dimensional coordinate instrument. The flange plane of the end holder is measured to establish the first plane; the cylindrical surface outside the flange of the end holder in the assembly is measured using the three-dimensional coordinate instrument to establish the first axis.

According to the end tool error detection method of an orthopedic surgical robot provided by this application, measuring the surgical tool in the assembly through the three-coordinate instrument includes: measuring the surgical tool in the assembly through the three-coordinate instrument. The front end surface of the tool is measured to establish the second plane; the axial cylindrical surface of the surgical tool in the assembly is measured using the three-dimensional coordinate instrument to establish the second axis.

According to the end tool error detection method of an orthopedic surgical robot provided by this application, the coordinate origin of the measurement coordinate system and the direction of a coordinate axis are determined based on the measurement results of the end holder, and based on the measurement of the surgical tool The measurement results determine the direction of the other coordinate axis of the measurement coordinate system. The end holder in the theoretical coordinate model establishes the measurement coordinate system, including: connecting the first plane and the first axis. The intersection point of is determined as the coordinate origin of the measurement coordinate system; the negative direction of the normal line of the first plane is determined as the positive direction of the Z axis of the measurement coordinate system; the positive direction of the normal line of the second plane is determined is the positive direction of the Y-axis of the measurement coordinate system; based on the determined coordinate origin, the positive direction of the Z-axis, and the positive direction of the Y-axis, the measurement coordinate system is established in the theoretical coordinate model.

According to the end tool error detection method of an orthopedic surgical robot provided by this application, based on the measurement results of the surgical tool, the reference point is determined at the front end of the surgical tool in the theoretical coordinate model, and based on the determined reference point, determining the measurement coordinates of the reference point in the established measurement coordinate system, including: determining the intersection point of the second plane and the second axis as the front end of the surgical tool in the theoretical coordinate model. Reference point: According to the determined reference point, determine the measurement coordinates of the reference point in the established measurement coordinate system.

According to the end tool error detection method of an orthopedic surgical robot provided by this application, while obtaining the theoretical coordinate model of the assembly and the theoretical coordinates of the reference point at the front end of the surgical tool, the upper limit and lower limit of the coordinates of the reference point are also obtained. value; the assembly is measured by a three-coordinate instrument, and based on the measurement results of the three-coordinate instrument, a measurement coordinate system is established for the end holder in the theoretical coordinate model, and the reference point is determined to be in the After measuring the measurement coordinates in the coordinate system, it also includes: repeatedly performing the measurement of the assembly with a three-coordinate instrument, and establishing an end gripper in the theoretical coordinate model based on the measurement results of the three-coordinate instrument. Measuring the coordinate system, the operation of determining the measurement coordinates of the reference point in the measurement coordinate system obtains a predetermined number of measurement coordinates; based on the obtained set of measurement coordinates, establishing the normal state of the measurement coordinates of the reference point Distribution curve, determine the measurement coordinates of the reference point based on the positional relationship between the normal distribution curve and the upper limit value and the lower limit value of the reference point coordinates.

According to the end tool error detection method of an orthopedic surgical robot provided by this application, establishing a normal distribution curve of the reference point measurement coordinates based on the obtained set of measurement coordinates includes: respectively determining the obtained set of measurement coordinates. The standard deviation, variance and mean value of the X-axis coordinate, Y-axis coordinate and Z-axis coordinate; based on the determined standard deviation, variance and mean value of the X-axis coordinate, Y-axis coordinate and Z-axis coordinate, the reference point measurement is established respectively The X-axis coordinate, Y-axis coordinate and Z-axis coordinate in the coordinates are normal distribution curves.

According to the end tool error detection method of an orthopedic surgical robot provided by the present application, based on the positional relationship between the normal distribution curve and the upper limit value and the lower limit value of the reference point coordinates, the reference point is determined. Measuring coordinates includes: judging whether the obtained set of measured coordinates passes the test based on the positional relationship between the normal distribution curve and the upper limit value and lower limit value of the reference point coordinates; if the obtained set of measured coordinates After the measurement coordinates are tested, the median or average value of the obtained set of measurement coordinates is determined as the measurement coordinates of the reference point.

In a second aspect, this application also provides an end tool error detection device for an orthopedic surgical robot, including: a measuring base configured to fix an assembly composed of an end holder of an orthopedic surgical robot and a surgical tool; and an acquisition module configured In order to obtain the theoretical coordinate model of the assembly and the theoretical coordinates of the reference point of the front end of the surgical tool; a three-dimensional coordinate instrument is configured to measure the assembly;

A processing module configured to establish a measurement coordinate system for the end holder in the theoretical coordinate model based on the measurement results of the three-dimensional coordinate instrument, and determine the measurement coordinates of the reference point in the measurement coordinate system;

The calculation module is configured to determine a spatial error value of the reference point based on the determined measurement coordinates of the reference point and the theoretical coordinates of the reference point.

In a third aspect, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, any one of the above is implemented. The steps of the end tool error detection method of orthopedic surgical robots are described.

In a fourth aspect, the invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the end tool error detection method of any one of the above orthopedic surgical robots is implemented. A step of.

In a fifth aspect, the invention also provides a computer program product on which a computer program is stored. When the computer program is executed by a processor, the steps of the end tool error detection method of any of the above orthopedic surgical robots are implemented.

The end tool error detection method and device of the orthopedic surgical robot provided by this application can detect orthopedic surgery by obtaining the theoretical coordinate model of the assembly composed of the end holder of the orthopedic surgical robot and the surgical tool and the theoretical coordinates of the reference point at the front end of the surgical tool. The assembly composed of the robot's end gripper and surgical tools is measured, a measurement coordinate system is established for the end gripper in the theoretical coordinate model, and the measurement coordinates of the reference point in the measurement coordinate system are determined. According to the measurement coordinates of the reference point and the reference point The theoretical coordinates of the orthopedic surgical robot can be used to determine the spatial error value of the reference point; after the end holder of the orthopedic surgical robot is assembled with the surgical tool, the accuracy of the assembly composed of the end holder and the surgical tool can be verified, including dimensional accuracy and positional accuracy. When using orthopedic surgery robots to perform orthopedic surgeries with surgical tools, the accuracy of the surgery can be guaranteed, and it is not limited by the shape and structure of the assembly composed of the end holder and the surgical tools. It can ensure the efficiency of measurement and reduce the cost of measurement. error.

Description of the drawings

In order to explain the technical solutions in this application or the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are of the present invention. For some embodiments of the application, those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 is a schematic flow chart of the end tool error detection method of the orthopedic surgical robot provided by this application;

Figure 2 is a schematic diagram of an assembly composed of an end holder and a rasp rod of an orthopedic surgical robot provided by this application;

Figure 3 is a schematic flow chart of an embodiment of establishing a measurement coordinate system and determining a reference point and the measurement coordinates of the reference point by measuring an assembly provided by this application;

Figure 4 is a schematic flow chart of another embodiment of establishing a measurement coordinate system and determining a reference point and the measurement coordinates of the reference point by measuring an assembly provided by this application;

Figure 5 is a schematic diagram of a theoretical coordinate model of an assembly composed of an orthopedic surgical robot end holder and a rasp rod provided by this application;

Figure 6 is a schematic flow chart of another end tool error detection method of an orthopedic surgical robot provided by this application;

Figure 7 is a schematic flow chart of an application scenario of the end tool error detection method of the orthopedic surgical robot provided by this application;

Figure 8 is a schematic structural diagram of the end tool error detection device of the orthopedic surgical robot provided by this application;

Figure 9 is a schematic structural diagram of the electronic device provided by this application.

Detailed ways

In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application. , not all examples. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

The end tool error detection method of the orthopedic surgical robot of the present application will be described below with reference to Figures 1-7.

Please refer to Figure 1. Figure 1 is a schematic flow chart of the end tool error detection method of the orthopedic surgical robot provided by the present application. The end tool error detection method of the orthopedic surgical robot shown in Figure 1 can be provided by the end tool error detection device of the orthopedic surgical robot. Execution, as shown in Figure 1, the end tool error detection method of the orthopedic surgical robot at least includes:

S101. Obtain the theoretical coordinate model of the assembly and the theoretical coordinates of the reference point of the front end of the surgical tool, where the assembly includes the end gripper and the surgical tool of the orthopedic surgical robot fixed on the measurement base.

In the embodiment of the present application, when detecting the error of the end tool of the orthopedic surgical robot, first the end holder of the orthopedic surgical robot and the surgical tools that need to be held by the robot during orthopedic surgery are assembled into an assembly, and then the assembly is passed through the card. The tool is fixed on the measuring machine base. Among them, the fixture and the measuring machine base for fixing the assembly can be implemented by using structures in the prior art that facilitate the measurement of the assembly. The embodiments of the present application do not limit the implementation form of the clamping fixture and the measuring machine base for fixing the assembly. After the assembly is fixed on the measuring machine base through the fixture, the theoretical coordinate model of the assembly and the theoretical coordinates of the reference point of the front end of the surgical tool in the assembly can be obtained.

The embodiments of the present application do not limit the forms of the obtained theoretical coordinate model of the assembly and the theoretical coordinates of the reference point of the front end of the surgical tool in the assembly. In some optional examples, the obtained theoretical coordinate model of the assembly can be a three-dimensional model of the assembly composed of the end gripper of the orthopedic surgical robot and the surgical tool; the obtained reference point of the front end of the surgical tool in the assembly The theoretical coordinates can be the coordinates (X ₀ , Y ₀ , Z ₀ ) of the reference point S in the three-dimensional rectangular coordinate system established by the end gripper in the theoretical coordinate model of the assembly.

The embodiments of the present application do not limit the implementation methods of obtaining the theoretical coordinate model of the assembly and the theoretical coordinates of the reference point of the front end of the surgical tool in the assembly. Optionally, the theoretical coordinate model of the assembly and the theoretical coordinates of the reference point of the front end of the surgical tool in the assembly can be input through the input device; or the theoretical coordinate model of the assembly and the front end of the surgical tool in the assembly can also be read from the database. The theoretical coordinates of the reference point.

The embodiments of the present application do not limit the type of surgical tools. In some optional examples, as shown in Figure 2, the surgical tool can be a rasp rod 210 in orthopedic surgery, and the front end surface 211 of the rasp rod 210 is a working surface used to perform rasp in orthopedic surgery. Reference The point is the midpoint of the working surface of the front end of the grinding rod 210. The rear end 212 of the grinding rod 210 and one end 221 of the end holder 220 are assembled into an assembly. The other end of the end holder 220 is provided with a flange 222. The holder 220 is connected to the driving device through the flange 222, and the driving device navigates the assembly to a target position for rasping during orthopedic surgery.

S102. Measure the assembly through a three-coordinate instrument. Based on the measurement results of the three-coordinate instrument, establish a measurement coordinate system for the end gripper in the theoretical coordinate model and determine the measurement coordinates of the reference point in the measurement coordinate system.

In the embodiment of the present application, after the assembly composed of the end holder of the orthopedic surgical robot and the surgical tool is fixed on the measuring machine base, the assembly can be measured by a three-dimensional coordinate machine, where the existing three-coordinate machine can be used. The embodiment of the present application does not limit the implementation form of the three-dimensional coordinate instrument. After measuring the assembly through the three-coordinate instrument, the measurement coordinate system can be established based on the measurement results of the assembly using the three-coordinate instrument. Measurement results determine the measurement coordinates of the reference point in the measurement coordinate system.

In the embodiment of the present application, the theoretical coordinates of the front-end reference point of the surgical tool in the assembly can be obtained, and the position and method of establishing the coordinate system of the end gripper in the theoretical coordinate model of the assembly can be used. According to the measurement results of the three-dimensional coordinate instrument, Establish a measurement coordinate system for the end holder in the theoretical coordinate model of the assembly; the method of determining the front reference point of the surgical tool in the assembly can be used, and based on the measurement results of the three-coordinate instrument, the surgical tool in the theoretical coordinate model of the assembly The front end determines the reference point, thereby determining the measurement coordinates of the reference point in the measurement coordinate system. The embodiments of the present application implement methods for establishing a measurement coordinate system in a theoretical coordinate model of an assembly based on measurement results of a three-dimensional coordinate instrument, and methods for determining a reference point at the front end of a surgical tool in the theoretical coordinate model of an assembly. Not limited.

In some optional examples, according to the measurement results of the three-dimensional coordinate instrument, the measurement coordinate system established by the end gripper in the theoretical coordinate model of the assembly can be a three-dimensional rectangular coordinate system. According to the measurement results of the three-dimensional coordinate instrument, the measurement coordinate system can be The front end of the surgical tool in the theoretical coordinate model of the assembly determines the reference point S1. According to the determined reference point S1, the measurement coordinates (X ₁ , Y ₁ , Z ₁ ) of the reference point S1 in the measurement coordinate system can be determined.

S103. Based on the determined measurement coordinates of the reference point and the theoretical coordinates of the reference point, determine the spatial error value of the reference point.

In the embodiment of the present application, after establishing a measurement coordinate system in the theoretical coordinate model of the assembly based on the measurement results of the assembly using a three-dimensional coordinate instrument and determining the lateral coordinates of the reference point, the obtained measurement coordinates of the reference point can be With the obtained theoretical coordinates of the reference point, the spatial error value of the reference point at the front end of the surgical tool is calculated. The embodiments of the present application do not limit the implementation method of calculating the spatial error value of the reference point based on the measured coordinates of the reference point and the theoretical coordinates of the reference point. In some optional examples, the measured coordinates and theoretical coordinates of the reference point S can be three-dimensional rectangular coordinates (X ₀ , Y ₀ , Z ₀ ) and

The spatial error value d of the reference point S can be calculated according to Formula 2. The form of Formula 2 for calculating the spatial error value d of the reference point S is as follows:

In some optional examples, after obtaining the measurement coordinates of the reference point, the measurement coordinates of the reference point can also be displayed on the display. After obtaining the spatial error value of the reference point, the spatial error value of the reference point can also be displayed on the display.

The end tool error detection method of the orthopedic surgical robot provided by the embodiment of the present application obtains the theoretical coordinate model of the assembly composed of the end holder of the orthopedic surgical robot and the surgical tool, and the theoretical coordinates of the reference point at the front end of the surgical tool, so as to detect orthopedic surgery. The assembly composed of the robot's end gripper and surgical tools is measured, a measurement coordinate system is established for the end gripper in the theoretical coordinate model, and the measurement coordinates of the reference point in the measurement coordinate system are determined. According to the measurement coordinates of the reference point and the reference point The theoretical coordinates of the orthopedic surgical robot can be used to determine the spatial error value of the reference point; after the end holder of the orthopedic surgical robot is assembled with the surgical tool, the accuracy of the assembly composed of the end holder and the surgical tool can be verified, including dimensional accuracy and positional accuracy. When using orthopedic surgery robots to perform orthopedic surgeries with surgical tools, the accuracy of the surgery can be guaranteed, and it is not limited by the shape and structure of the assembly composed of the end holder and the surgical tools. It can ensure the efficiency of measurement and reduce the cost of measurement. error.

Please refer to Figure 3. Figure 3 is a schematic flow chart of an embodiment of establishing a measurement coordinate system and determining a reference point and the measurement coordinates of the reference point by measuring an assembly provided by this application. As shown in Figure 3, the measurement is performed using a three-coordinate instrument. The assembly is measured. Based on the measurement results of the three-dimensional coordinate instrument, a measurement coordinate system is established for the end gripper in the theoretical coordinate model. Determining the measurement coordinates of the reference point in the measurement coordinate system at least includes:

S301, use a three-dimensional coordinate instrument to measure the end holder and surgical tool in the assembly respectively.

In the embodiment of the present application, the end holder and the surgical tool in the assembly composed of the end holder and the surgical tool of the orthopedic surgical robot fixed on the measuring base can be measured respectively by using a three-dimensional coordinate instrument, where the three-coordinate instrument measures The measurement positions and measurement results obtained by the end holder and the surgical tool respectively can be determined based on the need to establish a measurement coordinate system on the end holder and determine a reference point at the front end of the surgical tool. This is not the case in the embodiments of this application. limited. For example, the CMM can establish specific planes in the end holder and surgical tool by measuring specific planes in the end holder and surgical tool, respectively, and/or the CMM can establish specific planes in the end holder and surgical tool by measuring the specific planes in the end holder and surgical tool respectively. Measurements are made on specific cylindrical surfaces to establish specific axes in end-holds and surgical tools.

S302. Based on the measurement results of the end holder, determine the coordinate origin of the measurement coordinate system and the direction of one coordinate axis. Based on the measurement results of the surgical tool, determine the direction of the other coordinate axis of the measurement coordinate system. Based on the determined measurement coordinates The coordinate origin and direction of the system are determined by the two coordinate axes, and the measurement coordinate system is established by the end gripper in the theoretical coordinate model.

In the embodiment of the present application, the measurement coordinate system is a three-dimensional rectangular coordinate system. After measuring the end holder and the surgical tool in the assembly respectively with a three-dimensional coordinate instrument, the measurement results of the end holder can be measured based on the three-dimensional coordinate instrument. The end gripper determines the coordinate origin of the measurement coordinate system and the direction of one coordinate axis, and determines the direction of the other coordinate axis of the measurement coordinate system based on the measurement results of the surgical tool by the three-coordinate instrument, so that based on the determined coordinate origin and The directions of the two coordinate axes establish the measurement coordinate system of the end gripper in the theoretical coordinate model. The embodiments of the present application do not limit the coordinate axes determined based on the measurement results of the end holder using a three-dimensional coordinate instrument, and the coordinate axes determined based on the measurement results of the surgical tool using a three-dimensional coordinate instrument. For example, the coordinate origin of the measurement coordinate system and the positive direction of the Z axis can be determined on the end holder based on the measurement results of the end holder using a three-coordinate instrument, and the Y of the measurement coordinate system can be determined based on the measurement results of the surgical tool using a three-coordinate instrument. The positive direction of the axis.

S303. Based on the measurement results of the surgical tool, determine a reference point at the front end of the surgical tool in the theoretical coordinate model. Based on the determined reference point, determine the measurement coordinates of the reference point in the established measurement coordinate system.

In the embodiment of the present application, after the measurement coordinate system is established for the end holder in the theoretical coordinate model based on the measurement results of the three-coordinate instrument, the surgical tool in the theoretical coordinate model can be measured based on the measurement results of the three-coordinate instrument. The front end of the system determines the reference point, and based on the reference point determined by measurement, determines the coordinates of the reference point in the established measurement coordinate system, that is, the measurement coordinates of the reference point.

Please refer to Figure 4. Figure 4 is a schematic flow chart of another embodiment of establishing a measurement coordinate system by measuring an assembly and determining a reference point and the measurement coordinates of the reference point provided by this application. As shown in Figure 4, through three coordinates The instrument measures the assembly. Based on the measurement results of the three-dimensional coordinate instrument, a measurement coordinate system is established for the end holder in the theoretical coordinate model. Determining the measurement coordinates of the reference point in the measurement coordinate system at least includes:

S401, use a three-dimensional coordinate instrument to measure the flange plane of the end gripper in the assembly and establish the first plane.

In the embodiment of the present application, after the assembly consisting of the end holder of the orthopedic surgical robot and the surgical tool is fixed on the measuring machine base, the flange plane of the end holder in the assembly can be measured using a three-dimensional coordinate instrument to establish First plane. The end holder is connected to the driving device through a flange, and the driving device navigates the assembly during orthopedic surgery. For example, as shown in Figure 2, the surgical tool can be a rasp rod 210 in orthopedic surgery. The flange plane of the end holder 220 is measured with a three-dimensional coordinate system to establish a first plane, and the first plane and the flange plane can be established. parallel.

S402, measure the outer cylindrical surface of the flange of the end gripper in the assembly using a three-dimensional coordinate instrument to establish the first axis.

In the embodiment of the present application, after the assembly consisting of the end holder of the orthopedic surgical robot and the surgical tool is fixed on the measuring machine base, the cylindrical surface outside the flange of the end holder in the assembly can be measured using a three-dimensional coordinate instrument. , establish the first axis. For example, as shown in Figure 2, the surgical tool can be a rasp rod 210 in orthopedic surgery. The outer cylindrical surface of the flange of the end holder 220 is measured with a three-dimensional coordinate system to establish a first axis, and the first axis and the third axis can be established. One plane is vertical.

S403: Measure the front end surface of the surgical tool in the assembly using a three-dimensional coordinate instrument to establish a second plane.

In the embodiment of the present application, after the assembly consisting of the end holder of the orthopedic surgical robot and the surgical tool is fixed on the measuring machine base, the front end surface of the surgical tool in the assembly can be measured using a three-dimensional coordinate instrument to establish a second flat. For example, as shown in FIG. 2 , the surgical tool can be a rasp bar 210 in orthopedic surgery. The front end surface of the rasp bar 210 is measured with a three-dimensional coordinate instrument, and a second plane can be established. The second plane is connected to the rasp bar 210 . The front end faces are parallel.

S404: Measure the axial cylindrical surface of the surgical tool in the assembly using a three-dimensional coordinate instrument to establish the second axis.

In the embodiment of the present application, after the assembly consisting of the end holder of the orthopedic surgical robot and the surgical tool is fixed on the measuring machine base, the axial cylindrical surface of the surgical tool in the assembly can be measured using a three-dimensional coordinate instrument to establish Second axis. For example, as shown in Figure 2, the surgical tool can be a rasp rod 210 in orthopedic surgery. The axial cylindrical surface of the rasp rod 210 is measured with a three-dimensional coordinate system to establish a second axis. The second axis is related to the second axis. The plane is vertical.

The embodiment of the present application does not limit the order of S401, S402, S403, and S404 measurements. In other optional examples, S401 may be executed first, then S402, then S404, and finally S403.

S405: Determine the intersection of the first plane and the first axis as the coordinate origin of the measurement coordinate system.

In the embodiment of the present application, after measuring the end holder and the surgical tool in the assembly respectively with a three-dimensional coordinate instrument, it can be determined based on the first plane and the first axis obtained by measuring the flange of the end holder. The intersection point of the first plane and the first axis is determined as the coordinate origin of the measurement coordinate system. As shown in Figures 2 and 5, the surgical tool can be a rasp rod 210 in orthopedic surgery, and the intersection of the first plane and the first axis obtained by measuring the flange 222 of the end holder 220 can be used as the measurement coordinate. The coordinate origin of the system is O.

S406: Determine the negative direction of the normal line of the first plane as the positive direction of the Z axis of the measurement coordinate system.

In the embodiment of the present application, after measuring the end holder and the surgical tool in the assembly using a three-dimensional coordinate instrument, the negative direction of the normal of the first plane obtained by measuring the flange of the end holder can be , as the positive direction of the Z axis of the measurement coordinate system. As shown in Figures 2 and 5, the surgical tool can be a rasp rod 210 in orthopedic surgery, and the negative direction of the normal of the first plane obtained by measuring the flange 222 of the end holder 220 can be used as the measurement coordinate. The positive direction of the Z-axis of the system.

S407: Determine the positive direction of the normal line of the second plane as the positive direction of the Y axis of the measurement coordinate system.

In the embodiment of the present application, after measuring the end holder and the surgical tool in the assembly using a three-dimensional coordinate instrument, the positive direction of the normal of the second plane obtained by measuring the surgical tool can be used as the measurement coordinate. The positive direction of the Y-axis of the system. As shown in Figures 2 and 5, the surgical tool can be a rasp rod 210 in orthopedic surgery, and the positive direction of the normal of the second plane obtained by measuring the rasp rod 210 can be used as the Y-axis of the measurement coordinate system. positive direction.

S408: Establish a measurement coordinate system in the theoretical coordinate model based on the determined coordinate origin, the positive direction of the Z axis, and the positive direction of the Y axis.

In the embodiment of the present application, after determining the coordinate origin of the measurement coordinate system, the positive direction of the Z-axis, and the positive direction of the Y-axis based on the measurement results of the end holder and the surgical tool in the assembly using a three-dimensional coordinate instrument, the Z The positive direction of the X-axis and the positive direction of the Y-axis are determined by the right-hand rule, so that according to the determined coordinate origin, the positive direction of the X-axis, the positive direction of the Y-axis and the positive direction of the Z-axis, in The end gripper in the theoretical coordinate model establishes the measurement coordinate system. As shown in Figures 2 and 5, the surgical tool can be a rasp bar 210 in orthopedic surgery, and the coordinates of the measurement coordinate system can be determined by measuring the flange 222 of the end holder 220 and the rasp bar 210 using a three-dimensional coordinate instrument. The origin O, the positive direction of the Z axis and the positive direction of the Y axis establish a measurement coordinate system on the flange 222 of the end holder 220 in the theoretical coordinate model.

S409: Determine the intersection point of the second plane and the second axis as the reference point of the front end of the surgical tool in the theoretical coordinate model.

In the embodiment of the present application, after measuring the end holder and the surgical tool in the assembly using a three-dimensional coordinate instrument, the second plane and the second axis obtained by measuring the surgical tool can be used in the theoretical coordinate model. The front end of the surgical tool determines the intersection point of the second plane and the second axis, and the intersection point of the determined second plane and the second axis is used as the reference point of the front end of the surgical tool determined by measurement. As shown in Figures 2 and 5, the surgical tool can be a rasp rod 210 in orthopedic surgery. The intersection of the second plane and the second axis obtained by measuring the rasp rod 210 can be used as the grinding point in the theoretical coordinate model. The reference point S1 of the front end of the filing rod 210 is the reference point of the front end of the grinding filing rod 210 determined through measurement.

S410. According to the determined reference point, determine the measurement coordinates of the reference point in the established measurement coordinate system.

In the embodiment of the present application, after establishing a measurement coordinate system and determining the reference point based on the measurement results of the end holder and the surgical tool in the assembly using a three-dimensional coordinate instrument, the front end of the surgical tool in the theoretical coordinate model can be The determined reference point is the reference point at the front end of the surgical tool determined by measuring, and the coordinates of the reference point in the established measurement coordinate system are determined, that is, the measurement coordinates of the reference point. As shown in Figures 2 and 5, the surgical tool can be a rasp bar 210 in orthopedic surgery. The measurement coordinate system can be established and determined by measuring the flange 222 of the end holder 220 and the rasp bar 210 based on a three-dimensional coordinate instrument. The reference point S ₁ is the reference point S 1 , and the measurement coordinates (X ₁ , Y ₁ , Z ₁ ) of the reference point S ₁ in the measurement coordinate system are determined.

Please refer to Figure 6. Figure 6 is a schematic flow chart of another end tool error detection method of an orthopedic surgical robot provided by this application. As shown in Figure 6, the end tool error detection method of the orthopedic surgical robot at least includes:

S601. Obtain the theoretical coordinate model of the assembly, the theoretical coordinates of the reference point at the front end of the surgical tool, and the upper limit and lower limit of the reference point coordinates. The assembly includes the end gripper of the orthopedic surgical robot fixed on the measuring base. with surgical tools.

In the embodiment of the present application, after the assembly consisting of the end holder of the orthopedic surgical robot and the surgical tool is fixed on the measuring machine base through a clamp, the theoretical coordinate model of the assembly and the reference of the front end of the surgical tool in the assembly are obtained In addition to the theoretical coordinates of the point, the upper limit and lower limit of the reference point coordinates can also be obtained. The embodiment of the present application does not limit the form of the upper limit value and the lower limit value of the acquired reference point coordinates. In some optional examples, the obtained theoretical coordinate model of the assembly can be a three-dimensional model, and the obtained theoretical coordinates of the reference point can be a three-dimensional model established by the end gripper of the reference point S in the theoretical coordinate model of the assembly. The coordinates (X ₀ , Y ₀ , Z ₀ ) in the rectangular coordinate system, the upper limit and lower limit of the obtained reference point coordinates, can include _the upper limit and lower limit of the X-axis coordinate of the reference point S USL _{The value LSL _ _}

The embodiment of the present application does not limit the implementation method of obtaining the upper limit value and the lower limit value of the reference point coordinates. Optionally, the upper limit value and lower limit value of the reference point coordinates can be input through an input device; or the upper limit value and lower limit value of the reference point coordinates can also be read from the database.

S602: Measure the assembly through a three-coordinate instrument. Based on the measurement results of the three-coordinate instrument, establish a measurement coordinate system for the end gripper in the theoretical coordinate model and determine the measurement coordinates of the reference point in the measurement coordinate system.

In this embodiment of the present application, for the description of S602, please refer to the description of S102 in Figure 1, so it will not be repeated again.

S603, repeat the operation of measuring the assembly with a three-coordinate instrument, establishing a measurement coordinate system for the end gripper in the theoretical coordinate model based on the measurement results of the three-coordinate instrument, and determining the measurement coordinates of the reference point in the measurement coordinate system. Get a predetermined number of set of measurement coordinates.

In the embodiment of the present application, after establishing a measurement coordinate system in the theoretical coordinate model of the assembly based on the measurement results of the assembly using a three-dimensional coordinate instrument and determining the lateral coordinates of the reference point, S602 can be repeatedly executed to obtain a predetermined number of groups. Measurement coordinates: The embodiment of the present application does not limit the number of measurement coordinates included in a set of measurement coordinates. In some optional examples, according to the measurement results of the three-dimensional coordinate instrument, the measurement coordinate system established by the end gripper in the theoretical coordinate model of the assembly can be a three-dimensional rectangular coordinate system. According to the measurement results of the three-dimensional coordinate instrument, the measurement coordinate system can be The front end of the surgical tool in the theoretical coordinate model of the assembly determines the reference point S ₁ . Based on the determined reference point S ₁ , the measurement coordinates (X ₁ , Y ₁ , Z ₁ ) of the reference point S ₁ in the measurement coordinate system can be determined. ), repeatedly executing S602 can determine a set of reference points S ₂ , S ₃ , S ₄ ...S _n at the front end of the surgical tool in the theoretical coordinate model of the assembly, and then obtain a set of measurement coordinates (X ₂ , Y ₂ , Z ₂ ), (X ₃ , Y ₃ , Z ₃ ), (X ₄ , Y ₄ , Z ₄ )... (X _n , Y _n , Z _n ).

S604: Based on the obtained set of measurement coordinates, establish a normal distribution curve of the reference point measurement coordinates, and determine the measurement of the reference point based on the positional relationship between the normal distribution curve and the upper limit and lower limit of the reference point coordinates. coordinate.

In the embodiment of the present application, after repeatedly executing S602 to obtain a predetermined set of measurement coordinates of the front-end reference points of the surgical tool in the assembly, a normal distribution curve of the reference point measurement coordinates can be established based on the obtained set of measurement coordinates, And based on the established normal distribution curve of the reference point measurement coordinates and the upper and lower limit values of the reference point coordinates, the normal distribution curve of the reference point measurement coordinates and the upper and lower limit values of the reference point coordinates can be determined. The final measurement coordinates of the reference point can be determined based on the positional relationship between the normal distribution curve of the reference point measurement coordinates and the upper limit and lower limit value of the reference point coordinates.

The embodiments of this application do not limit the implementation method of the normal distribution curve for establishing the reference point measurement coordinates based on a set of measurement coordinates. In some optional examples, the measurement coordinates of the reference point S can be three-dimensional Cartesian coordinates. When establishing a normal distribution curve of the measurement coordinates of the reference point S based on a set of measurement coordinates, the resulting set of measurement coordinates can be determined respectively. X _{- axis coordinates ( X 1 ,} X _{2 , X 3} ...... The standard deviation σ, variance σ ² and mean μ of Z _n ), and then based on the determined standard deviation σ, variance σ ² and mean μ of the X-axis coordinate, Y-axis coordinate and Z-axis coordinate, establish reference points respectively according to Formula 1 The normal distribution curve of the X-axis coordinate, Y-axis coordinate and Z-axis coordinate in the S measurement coordinates. The form of Formula 1 to establish the normal distribution curve is as follows:

Among them, by replacing X in Formula 1 with Y or Z, the expression of the normal distribution curve of the Y-axis coordinate or Z-axis coordinate in the measurement coordinates of the reference point S can be obtained.

The embodiments of the present application do not limit the implementation method of determining the measurement coordinates of the reference point based on the positional relationship between the normal distribution curve of the reference point measurement coordinates and the upper limit value and the lower limit value of the reference point coordinates. Optionally, based on the positional relationship between the normal distribution curve and the upper limit and lower limit of the reference point coordinates, an area coinciding with the upper limit and lower limit of the reference point coordinates can be determined on the normal distribution curve. , and obtain the measurement coordinates of the reference point based on the overlapping area on the determined normal distribution curve; alternatively, the measurement coordinates of the reference point can also be determined based on the positional relationship between the normal distribution curve and the upper limit and lower limit of the coordinates of the reference point. Whether the obtained set of measurement coordinates, that is, the set of measurement coordinates used to establish the normal distribution curve of the reference point measurement coordinates, passes the test. If the obtained set of measurement coordinates passes the test, the obtained set of measurement coordinates can be used to establish the normal distribution curve of the reference point measurement coordinates. The median or average value of the coordinates yields the measured coordinates of the reference point.

In some optional examples, the upper limit and lower limit of the reference point coordinates can be determined on the normal distribution curve based on the positional relationship between the normal distribution curve and the upper limit and lower limit of the reference point coordinates. The area where the values coincide. Based on the overlapping area on the determined normal distribution curve, it is judged whether a set of measurement coordinates used to establish the normal distribution curve of the reference point measurement coordinates passes the test. For example, the determined normal distribution curve can be judged. Whether the area of the overlapping area on the determined normal distribution curve is greater than the preset threshold, if the area of the overlapping area on the determined normal distribution curve is greater than the preset threshold, then a set of measurement coordinates used to establish the normal distribution curve of the reference point measurement coordinates is passed test.

In some optional examples, the measurement coordinates of the reference point S can be a three-dimensional rectangular coordinate, and can be based on the normal distribution curve of the X-axis coordinate in the measurement coordinates of the reference point S and the upper limit of the X-axis coordinate of the reference point _S USL and the lower limit value LSL _X to determine the measurement coordinate of the reference point S on the X-axis

The measurement coordinates of the reference point S on the Y-axis can be determined based on the normal distribution curve of the Y-axis coordinate in the measurement coordinates of the reference point S and the upper limit value USL _Y and the lower limit value LSL _Y of the Y-axis coordinate of the reference point S.

The measurement coordinates of the reference point S on the Z-axis can be determined based on the normal distribution curve of the Z-axis coordinate in the measurement coordinates of the reference point S and the upper limit value USL _Z and the lower limit value LSL _Z of the Z-axis coordinate of the reference point S.

Thus, the final measurement coordinates of the reference point S are obtained.

S605: Determine the spatial error value of the reference point based on the determined measurement coordinates of the reference point and the theoretical coordinates of the reference point.

In this embodiment of the present application, for the description of S605, please refer to the description of S103 in Figure 1, so it will not be repeated again.

In some optional examples, after obtaining the normal distribution curve of the reference point measurement coordinates, the normal distribution curve of the reference point measurement coordinates and the upper limit and lower limit value of the reference point coordinates can also be displayed on the display. The positional relationship between the normal distribution curve and the upper and lower limit values of the reference point coordinates. When a set of measurement coordinates is verified, the verification results can also be displayed on the display.

Please refer to Figure 7. Figure 7 is a schematic flow chart of an application scenario of the end tool error detection method of the orthopedic surgical robot provided by this application. As shown in Figure 7,

The end holder of the orthopedic surgical robot and the surgical tool are assembled into an assembly and fixed on the measuring machine base with a clamp.

Enter the theoretical coordinate model of the assembly composed of the end holder and the grinding rod, enter the theoretical coordinates of the reference point S (X ₀ , Y ₀ , Z ₀ ), the upper limit value USL and the lower limit value LSL of the coordinates; among them, the end The intersection of the flange axis of the gripper and the flange plane is taken as the origin of the theoretical coordinate system, the negative direction of the normal line of the flange plane is taken as the positive direction of the Z-axis, and the direction pointed by the front end of the end gripper is taken as the positive direction of the Y-axis. In the theoretical coordinate system, the intersection point of the front end surface of the filing rod and the axis center in the assembly composed of the end holder and the filing rod is used as a reference point to determine the coordinates of the reference point in the theoretical coordinate system.

The first measurement plane is established by measuring the flange plane of the end holder with a three-coordinate instrument. The first axis is established by measuring the outer cylindrical surface of the flange of the end holder with a three-coordinate instrument. The axial cylindrical surface of the grinding rod is measured by a three-coordinate instrument. Establish the second axis, measure the front end surface of the grinding rod with a three-dimensional coordinate instrument to establish a second measurement plane, determine the origin O of the measured coordinate system based on the intersection of the first measurement plane and the first axis, and use the negative of the normal of the first measurement plane The direction determines the positive direction of the Z axis of the coordinate system, and the positive direction of the normal of the second measurement plane determines the positive direction of the Y axis of the coordinate system. The actual measured coordinate system is established through the positive direction of the Z axis, the positive direction of the Y axis, and the origin O.

The measured reference point S ₁ is determined according to the intersection of the second measurement plane and the second axis, and the measurement coordinates (X ₁ , Y ₁ , Z ₁ ) of the reference point S ₁ are determined based on the coordinate system established by the measurement.

Through repeated measurements using the above method, multiple sets of measured data such as the measured reference points S ₂ , S ₃ , S ₄ ……S _n were obtained, and their X-axis coordinates (X ₁ , X ₂ , X ₃ …… X _n ), Y-axis Coordinates (Y ₁ , Y ₂ , Y ₃ …… Y _n ) and Z-axis coordinates (Z ₁ , Z ₂ , Z ₃ …… Z _n ) are used to calculate the standard deviation σ, variance σ ² and mean μ according to the formula 2. Create a normal distribution curve and obtain the coordinate mean of the reference point measured multiple times.

According to the input coordinate upper limit value USL and lower limit value LSL, the overlapping area of the normal distribution curve and the coordinate upper limit value USL and lower limit value LSL is obtained. Based on the overlapping area, it is judged whether the test is passed. If it passes the test, the reference point is coordinate mean

As the measured coordinates of the reference point S, the spatial error value d of the reference point is calculated according to Formula 1 with the theoretical coordinates (X, Y, Z) of the reference point.

The end tool error detection device of the orthopedic surgical robot provided by the present application is described below. The end tool error detection device of the orthopedic surgical robot described below and the end tool error detection method of the orthopedic surgical robot described above can be mutually referenced.

Please refer to Figure 8. Figure 8 is a schematic structural diagram of the end tool error detection device of the orthopedic surgical robot provided by the present application. The end tool error detection device of the orthopedic surgical robot shown in Figure 8 can be used to perform the operations of the orthopedic surgical robot in Figure 1. End tool error detection method, as shown in Figure 8, the end tool error detection device of the orthopedic surgical robot at least includes:

The measuring base 810 is configured to fix an assembly composed of a terminal gripper of the orthopedic surgical robot and a surgical tool.

The acquisition module 820 is configured to acquire the theoretical coordinate model of the assembly and the theoretical coordinates of the reference point of the front end of the surgical tool.

Coordinate instrument 830 is configured to measure the assembly.

The processing module 840 is configured to establish a measurement coordinate system for the end holder in the theoretical coordinate model based on the measurement results of the three-dimensional coordinate instrument, and determine the measurement coordinates of the reference point in the measurement coordinate system.

The calculation module 850 is configured to determine the spatial error value of the reference point based on the determined measurement coordinates of the reference point and the theoretical coordinates of the reference point.

Optionally, the three-dimensional coordinate instrument 830 is configured to separately measure the end holder and the surgical tool in the assembly.

Processing module 840, including:

The coordinate system creation unit is configured to determine the coordinate origin and the direction of one coordinate axis of the measurement coordinate system based on the measurement results of the end holder, and determine the direction of the other coordinate axis of the measurement coordinate system based on the measurement results of the surgical tool. , establish a measurement coordinate system on the end gripper in the theoretical coordinate model.

The measurement coordinate determination unit is configured to determine a reference point at the front end of the surgical tool in the theoretical coordinate model based on the measurement result of the surgical tool, and determine the measurement of the reference point in the established measurement coordinate system based on the determined reference point. coordinate.

Optionally, the CMM 830 is configured to:

Establish the first plane by measuring the flange plane of the end holder in the assembly;

The first axis is established by measuring the outer cylindrical surface of the flange of the end holder in the assembly.

Optionally, the CMM 830 is configured to:

establishing a second plane by measuring the front end face of the surgical tool in the assembly;

The second axis is established by measuring the axial cylindrical surface of the surgical tool in the assembly.

Optionally, the coordinate system creation unit is configured as:

Determine the intersection of the first plane and the first axis as the coordinate origin of the measurement coordinate system;

Determine the negative direction of the normal of the first plane as the positive direction of the Z axis of the measurement coordinate system;

Determine the positive direction of the normal of the second plane as the positive direction of the Y axis of the measurement coordinate system;

Based on the determined coordinate origin, the positive direction of the Z axis and the positive direction of the Y axis, a measurement coordinate system is established in the theoretical coordinate model.

Optionally, the measurement coordinate determination unit is configured as:

determining the intersection point of the second plane and the second axis as the reference point of the front end of the surgical tool in the theoretical coordinate model;

According to the determined reference point, the measurement coordinates of the reference point are determined in the established measurement coordinate system.

Optionally, the acquisition module 820 is also configured to acquire the upper limit value and the lower limit value of the reference point coordinates while acquiring the theoretical coordinate model of the assembly and the theoretical coordinates of the reference point at the front end of the surgical tool.

The processing module 840 is also configured to repeatedly measure the assembly using a three-coordinate instrument, establish a measurement coordinate system for the end holder in the theoretical coordinate model based on the measurement results of the three-coordinate instrument, and determine that the reference point is in the measurement coordinate system. The operation of measuring coordinates obtains a predetermined number of a set of measuring coordinates.

The calculation module 850 is also configured to establish a normal distribution curve of the reference point measurement coordinates based on the obtained set of measurement coordinates, based on the positional relationship between the normal distribution curve and the upper limit value and the lower limit value of the reference point coordinates. , determine the measurement coordinates of the reference point.

Optionally, the calculation module 850 includes:

The first calculation unit is configured to respectively determine the standard deviation, variance and mean of the X-axis coordinate, Y-axis coordinate and Z-axis coordinate in the obtained set of measurement coordinates;

The curve creation unit is configured to establish the normal X-axis coordinate, Y-axis coordinate and Z-axis coordinate in the reference point measurement coordinates based on the determined standard deviation, variance and mean of the X-axis coordinate, Y-axis coordinate and Z-axis coordinate respectively. distribution curve.

Optionally, the calculation module 850 also includes:

A judgment unit configured to judge whether the obtained set of measurement coordinates passes the inspection based on the positional relationship between the normal distribution curve and the upper limit value and the lower limit value of the reference point coordinates;

The second calculation unit is configured to obtain the measurement coordinates of the reference point based on the average value of the obtained set of measurement coordinates if the obtained set of measurement coordinates passes the test based on the judgment result of the judgment unit.

Figure 9 illustrates a schematic diagram of the physical structure of an electronic device. As shown in Figure 9, the electronic device may include: a processor (processor) 910, a communication interface (Communications Interface) 920, a memory (memory) 930 and a communication bus 940, where , the processor 910, the communication interface 920, and the memory 930 complete communication with each other through the communication bus 940. The processor 910 may call logic instructions in the memory 930 to execute the end tool error detection method of the orthopedic surgical robot.

In addition, the above-mentioned logical instructions in the memory 930 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. .

On the other hand, the present application also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are read by a computer, During execution, the computer can execute the end tool error detection method of the orthopedic surgical robot provided by each of the above method embodiments.

On the other hand, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. The computer program is implemented when executed by the processor to execute the end tool of the orthopedic surgical robot provided by the above method embodiments. Error detection method.

The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Persons of ordinary skill in the art can understand and implement the method without any creative effort.

Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the part of the above technical solution that essentially contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., including a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions in the embodiments of the present application.

Claims (12)

1. A method for detecting end tool errors of orthopedic surgery robots, including:

   Obtain the theoretical coordinate model of the assembly and the theoretical coordinates of the reference point of the front end of the surgical tool, wherein the assembly includes the end holder of the orthopedic surgical robot fixed on the measuring base and the surgical tool;

   The assembly is measured by a three-coordinate instrument. Based on the measurement results of the three-coordinate instrument, a measurement coordinate system is established for the end holder in the theoretical coordinate model, and the reference point is determined to be in the measurement coordinate system. measurement coordinates;

   Based on the determined measured coordinates of the reference point and the theoretical coordinates of the reference point, a spatial error value of the reference point is determined.
2. The end tool error detection method of an orthopedic surgical robot according to claim 1, wherein the assembly is measured by a three-coordinate instrument, and based on the measurement results of the three-coordinate instrument, the theoretical coordinate model is The end gripper establishes a measurement coordinate system and determines the measurement coordinates of the reference point in the measurement coordinate system, including:

   Measure the end holder and the surgical tool in the assembly respectively using the three-dimensional coordinate instrument;

   Based on the measurement results of the end holder, the coordinate origin and the direction of one coordinate axis of the measurement coordinate system are determined, and based on the measurement results of the surgical tool, the direction of the other coordinate axis of the measurement coordinate system is determined. , based on the determined coordinate origin of the measurement coordinate system and the two coordinate axes with determined directions, the end gripper in the theoretical coordinate model establishes the measurement coordinate system;

   Based on the measurement results of the surgical tool, the reference point is determined at the front end of the surgical tool in the theoretical coordinate model. Based on the determined reference point, the measurement of the reference point is determined in the established measurement coordinate system. coordinate.
3. The end tool error detection method of an orthopedic surgical robot according to claim 2, wherein the measuring of the end holder in the assembly through the three-dimensional coordinate instrument includes:

   Measure the flange plane of the end holder in the assembly through the three-dimensional coordinate instrument to establish the first plane;

   The outer cylindrical surface of the flange of the end holder in the assembly is measured using the three-dimensional coordinate instrument to establish the first axis.
4. The end tool error detection method of an orthopedic surgical robot according to claim 3, wherein the measurement of the surgical tool in the assembly by the three-dimensional coordinate instrument includes:

   Measure the front end surface of the surgical tool in the assembly through the three-dimensional coordinate instrument to establish a second plane;

   The axial cylindrical surface of the surgical tool in the assembly is measured by the three-dimensional coordinate instrument to establish the second axis.
5. The end tool error detection method of an orthopedic surgical robot according to claim 4, wherein the coordinate origin of the measurement coordinate system and the direction of one coordinate axis are determined based on the measurement results of the end holder, and the coordinate origin of the measurement coordinate system is determined based on the measurement results of the end holder. The measurement results of the surgical tool determine the direction of the other coordinate axis of the measurement coordinate system, and the end gripper in the theoretical coordinate model establishes the measurement coordinate system, including:

   Determine the intersection of the first plane and the first axis as the coordinate origin of the measurement coordinate system;

   Determine the negative direction of the normal of the first plane as the positive direction of the Z-axis of the measurement coordinate system;

   Determine the positive direction of the normal of the second plane as the positive direction of the Y-axis of the measurement coordinate system;

   According to the determined coordinate origin, the positive direction of the Z axis and the positive direction of the Y axis, the measurement coordinate system is established in the theoretical coordinate model.
6. The end tool error detection method of an orthopedic surgical robot according to claim 4, wherein the reference point is determined at the front end of the surgical tool in the theoretical coordinate model based on the measurement result of the surgical tool, based on The determined reference point and the measurement coordinates of the reference point in the established measurement coordinate system include:

   Determine the intersection point of the second plane and the second axis as the reference point of the front end of the surgical tool in the theoretical coordinate model;

   According to the determined reference point, the measurement coordinates of the reference point are determined in the established measurement coordinate system.
7. According to the end tool error detection method of an orthopedic surgical robot according to any one of claims 1 to 6, while obtaining the theoretical coordinate model of the assembly and the theoretical coordinates of the reference point at the front end of the surgical tool, the coordinates of the reference point are also obtained. upper and lower limits;

   The assembly is measured by a three-dimensional coordinate instrument, and based on the measurement results of the three-dimensional coordinate instrument, a measurement coordinate system is established for the end holder in the theoretical coordinate model, and the reference point is determined to be at the measurement coordinate After the measurement coordinates in the system, there are also:

   Repeat the measurement of the assembly with a three-coordinate instrument, establish a measurement coordinate system for the end holder in the theoretical coordinate model based on the measurement results of the three-coordinate instrument, and determine that the reference point is in the The operation of measuring coordinates in the measuring coordinate system obtains a predetermined number of a set of measuring coordinates;

   Based on the obtained set of measurement coordinates, a normal distribution curve of the reference point measurement coordinates is established, and based on the positional relationship between the normal distribution curve and the upper limit value and lower limit value of the reference point coordinates, determine The measurement coordinates of the reference point.
8. The end tool error detection method of an orthopedic surgical robot according to claim 7, wherein establishing a normal distribution curve of the reference point measurement coordinates based on the obtained set of measurement coordinates includes:

   Determine the standard deviation, variance and mean of the X-axis coordinate, Y-axis coordinate and Z-axis coordinate in the obtained set of measurement coordinates respectively;

   Based on the determined standard deviation, variance and mean of the X-axis coordinate, Y-axis coordinate and Z-axis coordinate, normal distribution curves of the X-axis coordinate, Y-axis coordinate and Z-axis coordinate in the reference point measurement coordinates are respectively established.
9. The end tool error detection method of an orthopedic surgical robot according to claim 7, wherein the determination of the error is based on the positional relationship between the normal distribution curve and the upper limit value and the lower limit value of the reference point coordinates. The measurement coordinates of the reference point include:

   Based on the positional relationship between the normal distribution curve and the upper limit and lower limit of the reference point coordinates, determine whether the obtained set of measurement coordinates passes the test;

   If the obtained set of measurement coordinates passes the test, the median or average value of the obtained set of measurement coordinates is determined as the measurement coordinates of the reference point.
10. An end tool error detection device for an orthopedic surgical robot, including:

    a measuring base, configured as an assembly composed of a terminal holder and a surgical tool for fixing the orthopedic surgical robot;

    An acquisition module configured to acquire the theoretical coordinate model of the assembly and the theoretical coordinates of the reference point of the front end of the surgical tool;

    a three-dimensional coordinate instrument configured to measure the assembly;

    A processing module configured to establish a measurement coordinate system for the end holder in the theoretical coordinate model based on the measurement results of the three-dimensional coordinate instrument, and determine the measurement coordinates of the reference point in the measurement coordinate system;

    The calculation module is configured to determine a spatial error value of the reference point based on the determined measurement coordinates of the reference point and the theoretical coordinates of the reference point.
11. An electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the computer program as claimed in any one of claims 1 to 9 is implemented. The steps of the end tool error detection method of orthopedic surgical robots are described.
12. A non-transitory computer-readable storage medium with a computer program stored thereon. When the computer program is executed by a processor, the steps of the end tool error detection method of an orthopedic surgical robot according to any one of claims 1 to 9 are implemented. .

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